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. (1)
However, it is not difficult to imagine a situation when the ends of the interval are
not equally distant from the sensor. This is shown in fig. 2. Then, neither substituting
d with d
1
nor with d
2
in eq. (1) gives the proper result. Still not perfect but neverthe-
less more accurate calculations are thus done according to the following formulae:
(2)
(3)
. (4)
Fig. 2.
Diagram of Kinect sensor in a room with obstacles where the objects at the ends of the free
space interval are not equidistant from the sensor and the physical width of the interval no
longer lies in the plane of camera image
After the location of the free areas was determined, the algorithm checks if one of
them lies on the current robot trajectory, allowing to continue the straight ahead
movement. If not, but some differently located obstacle-free areas were found, the
robot turns as little as possible only to avoid collision and fit into a free space interval.
If collision-free trajectory could not be determined, the robot is informed to turn back
and search for a path again.
The results of each single run of the algorithm, i.e. the necessary turns to make cal-
culated based on one depth data frame each, are averaged using a running average of
8 samples to eliminate the noise in depth camera measurements. Such an approach is
less time-consuming than doing the averaging already at the stage of depth data ac-
quisition, as then large matrices (images of size 640480 pixels) would have to be
averaged element-wise.
4 Experimental Verification of the Operation of the System
In order to verify the created algorithm, a test track was built. The graphics given
below in fig. 3 shows the details of its construction. They are very important because
all objects that physically could not be detected by the Kinect sensor were eliminated
from the created environment. These objects include glass elements, which do not
reflect infrared waves, and objects too close to the start or end points of the track to
fall within the working range of the infrared sensor. They pose a threat of damage to
the robot and had to be removed. Such objects have to be detected by other sensors,
such as ultrasonic ones.
Fig. 3.
Diagram of the test track
The test consisted of crossing the path from 'start' to stop and back (at stop point
the track was limited by a wall). The results were satisfactory since the developed
system allowed for passing the track without collisions. During the test the messages
sent to the control unit were monitored in order to verify their correctness. On the
basis of the test it can be concluded that the implemented algorithm is working
properly and does not require additional adjustments. Unfortunately, Kinect sensor
proved to be an insufficient tool to navigate in the real field, mainly due to the scope
of the field of view. As was mentioned before, as a solution to this problem it is pro-
posed to use additional sensors (ultrasonic and infrared sensors of short working
range) that will allow for eliminating the blind spots. This will allow for monitoring
the area near the robot and detecting sudden changes threatening collision-free robot
movement.
5 The Future of the Project
The actions presented in this article are only the first stage of work on the expansion
of robot functionality. Possibilities offered by the Kinect sensor used in the project
allow for the use of the robot in many practical tasks. After having provided collision-
free motion of the robot in an unknown environment, the team will be working on the
next concept of the project, which is searching for rooms with given numbers. The
environment in which the robot will move are thus mainly corridors in buildings.
Therefore, we will need to take into account the people walking along the corridor,
which is a much bigger challenge for the obstacle detection and avoidance algorithm
as they are moving obstacles. Development of the created system to recognize moving
objects requires development of algorithms that will allow to monitor the movement
of those objects. Moreover, work will be required on problems related to the specifici-
ty of the search of the rooms, like the strategy of moving in the building as well as
reading the room numbers from the panels placed on the doors. In the implementation
of the last task it is planned to use the built-in Kinect sensor's RGB camera. In addi-
tion, it is planned to enrich the existing system with a map builder. This will allow for
the possibility of determining more efficient routes for the robot. Ideas of solutions to
these problems have already been proposed; however, so far the basic autonomization
of the robot was a priority, of course.
Acknowledgement
The project reported in this paper has been partially financed by the European Union
from European Social Fund, as a part of Operational Programme Human Capital,
number POKL.04.01.02-00-020/10.
References
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